Related papers: Multi-Agent Persistent Monitoring of Targets with …
The main challenge of multiagent reinforcement learning is the difficulty of learning useful policies in the presence of other simultaneously learning agents whose changing behaviors jointly affect the environment's transition and reward…
This paper considers the persistent coverage of a 2-D manifold that has been embedded in 3-D space. The manifold is subject to continual impact by intruders which travel at constant velocities along arbitrarily oriented straight-line…
This paper addresses the problem of decentralized state-tracking in the presence of sensor attacks. We consider a network of nodes where each node has the objective of tracking the state of a linear dynamical system based on its…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
In this paper, we consider the problem of multi-objective optimal control of a dynamical system with additive and multiplicative noises with given second moments and arbitrary probability distributions. The objectives are given by quadratic…
We study the problem of distributed coverage control in a network of mobile agents arranged on a line. The goal is to design distributed dynamics for the agents to achieve optimal coverage positions with respect to a scalar density field…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
System state estimation constitutes a key problem in several applications involving multi-agent system architectures. This rests upon the estimation of the state of each agent in the group, which is supposed to access only relative…
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…
Long-run average optimization problems for Markov decision processes (MDPs) require constructing policies with optimal steady-state behavior, i.e., optimal limit frequency of visits to the states. However, such policies may suffer from…
In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination…
Multi-agent systems are being increasingly deployed in challenging environments for performing complex tasks such as multi-target tracking, search-and-rescue, and intrusion detection. Notwithstanding the computational limitations of…
This paper addresses the estimation of a time- varying parameter in a network. A group of agents sequentially receive noisy signals about the parameter (or moving target), which does not follow any particular dynamics. The parameter is not…
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In contrast to previous studies, the attackers herein are assumed…
In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
We consider the problem of planning a closed walk $\mathcal W$ for a UAV to persistently monitor a finite number of stationary targets with equal priorities and dynamically changing properties. A UAV must physically visit the targets in…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…